Beam tracking method and system based on orthogonal dual-frequency uniform linear array

Abstract

The present invention discloses a beam tracking method and system based on an orthogonal dual-frequency uniform linear array. The method comprises: initializing base station parameters and kinematic parameters, wherein the kinematic parameters include the velocity vector and position vector of the target, and the base station includes an orthogonal dual-frequency linear antenna array; performing two-dimensional projection on the kinematic parameters to calculate the echo signal reflected by the target received by the base station; performing matrix modeling on the echo signal received by the base station in each coherent processing interval to obtain a multi-dimensional matrix of the echo signal; iteratively solving the multi-dimensional matrix of the echo signal in each coherent processing interval to obtain a target velocity prediction value and a target position prediction value. The present invention avoids co-frequency interference between signals by allocating different carrier frequencies to the two linear subarrays. The projection transformation improves the perception accuracy of the target motion state and enhances the joint estimation capability of the multi-dimensional velocity components of the moving target, thereby improving the overall performance of the system.

Description

Technical Field

[0001] The present invention belongs to the field of wireless communications, and in particular relates to a beam tracking method and system based on an orthogonal dual-frequency uniform linear array. Background Art

[0002] In recent years, the near-field region has become a new research hotspot in wireless communications, driven by the increasing trend toward wireless communications using large-aperture antennas and high-frequency signals. As array apertures and carrier frequencies increase, the near-field region continues to expand, sparking significant interest in exploring communication and sensing within the near-field region of antenna arrays. Various near-field channel models have been proposed to characterize the unique near-field effects. In near-field sensing, the propagation of spherical waves depends on the polar coordinates of angle and distance. Consequently, the sensing signal exhibits favorable structural characteristics. However, the near-field channel's dual dependence on both direction and distance poses challenges in obtaining accurate channel state information.

[0003] Current near-field wireless communication sensing systems mainly face the following problems: First, in the spatial dimension, existing systems are mostly limited to two-dimensional beam steering strategies and fail to effectively utilize three-dimensional spatial channel characteristics; second, in the dynamic characteristic dimension, existing solutions are built based on static user scenario assumptions, and the preset beam codebook is difficult to adapt to the time-varying channel response caused by high-speed terminal movement; third, in the environmental perception dimension, traditional methods rely on simplified channel models and lack the real-time perception capability of dynamic interference such as multipath time variation and obstacle obstruction in complex propagation environments.

[0004] In summary, traditional beamforming methods and velocity prediction methods have limitations, are difficult to meet performance requirements, and are easily affected by signal attenuation or multipath effects, resulting in low acquisition accuracy and prediction accuracy. Summary of the Invention

[0005] In order to solve the above problems existing in the prior art, the present invention provides a beam tracking method and system based on an orthogonal dual-frequency uniform linear array. The technical problem to be solved by the present invention is achieved through the following technical solutions:

[0006] A beam tracking method based on an orthogonal dual-frequency uniform linear array, comprising:

[0007] Initializing base station parameters and kinematic parameters, wherein the kinematic parameters include a velocity vector and a position vector of the target, and the base station includes an orthogonal dual-frequency linear antenna array;

[0008] Performing two-dimensional projection on the kinematic parameters to calculate an echo signal reflected by the target and received by the base station;

[0009] Performing matrix modeling on the echo signals received by the base station in each coherent processing interval to obtain a multi-dimensional matrix of the echo signals;

[0010] The multi-dimensional matrix of the echo signal of each coherent processing interval is solved iteratively to obtain the target velocity prediction value and the target position prediction value.

[0011] In a specific embodiment, the orthogonal dual-frequency linear antenna array is two groups of cross-placed antenna structures, each group of the antenna structures includes at least 256 antennas, and the distance between two adjacent antennas is λ / 2.

[0012] In a specific embodiment, performing a two-dimensional projection on the kinematic parameters to calculate an echo signal reflected by a target and received by the base station includes:

[0013] Perform dimensionality reduction on the three-dimensional space to construct a two-dimensional projection plane;

[0014] Based on the two-dimensional projection plane, the baseband echo signal received at the mth antenna is reflected by the moving target to obtain a projection signal;

[0015] Doppler frequency shift is introduced to optimize the projection signal to obtain an echo signal reflected by the target and received by the base station.

[0016] In a specific embodiment, the projection signal is:

[0017] ,

[0018] ,

[0019] ,

[0020] ,

[0021] ,

[0022] ,

[0023] ,

[0024] ,

[0025] in, represents the channel gain, Indicates the number of antennas placed in each cross-section, n represents the time index, T s Indicates the duration of each index, represents the time-varying propagation distance from the mth antenna to the target, represents the time-varying propagation distance from the ith antenna to the target, and denote radial velocity and lateral velocity respectively, denote the projection of radial velocity and transverse velocity along the line connecting the mth antenna of ULA_x and the target, respectively. express and and speed, r, θ, and φ represent the distance, azimuth, and elevation of the moving target relative to the center of the base station, respectively. represents the distance from the mth antenna to the center antenna, represents the projection of the distance from the target user to the mth antenna on the xoy plane, z represents the height of the moving target, Represents the projection of the distance from the target user to the base station center on the xoy plane, Indicates the distance between the target user and the base station, Indicates the The signal transmitted by the antenna, λ represents the signal wavelength, represents complex Gaussian noise.

[0026] In a specific embodiment, the echo signal reflected by the target is:

[0027] ,in represents the channel gain parameter, represents the array response matrix, represents the Doppler frequency shift matrix, Indicates that the antenna array transmits the signal, represents the noise vector.

[0028] In a specific embodiment, the multidimensional matrix of the echo signal is:

[0029] ,

[0030] in, represents the channel gain parameter, Indicates the echo signal received by the base station at time index 1~N. is the maximum time index, represents the position vector, represents the velocity vector, , represents the Khatri-Rao product of array response and velocity Doppler compensation, represents the noise matrix.

[0031] In a specific embodiment, iteratively solving the multidimensional matrix of the echo signal of each coherent processing interval to obtain the target velocity prediction value and the target position prediction value includes:

[0032] Convert the solution of the multi-dimensional matrix of the echo signal into the objective function of maximizing the optimization problem;

[0033] The quasi-Newton method is used to iteratively calculate the gradient expression of the objective function with respect to the velocity vector v to obtain a target velocity prediction value;

[0034] A target position prediction value is calculated based on the target speed prediction value.

[0035] In a specific embodiment, the objective function is:

[0036] ,

[0037] ,

[0038] ,

[0039] Among them, the expression is the objective function to be maximized, given by The two-norm expansion is obtained, where express With the transmission signal The product of represents the Khatri-Rao product of the array response and velocity Doppler compensation at the nth time index, Represents the echo signal reflected by the target, the superscript H represents the conjugate transpose of the matrix, Re{} represents the real part, and tr represents the trace of the matrix. represents the Doppler shift compensation vector, express The transpose of

[0040] The gradient expression is:

[0041] ,

[0042] in, , … Respectively represent the speed corresponding to 1-M antenna projections, … represents the Doppler frequency shift compensation vector The 1st-Mth entries of represents the velocity components in each direction, .

[0043] In a specific embodiment, the formula for calculating the target position prediction value based on the target speed prediction value is:

[0044] ,

[0045] in, 、 、 Represent the predicted position parameters of the target in cylindrical coordinates, 、 、 Respectively indicate the corresponding 、 、 The superscripts t and t+1 represent the current moment and the next moment respectively.

[0046] The present invention also provides a beam tracking system based on an orthogonal dual-frequency uniform linear array, comprising:

[0047] an initialization module, configured to initialize base station parameters and kinematic parameters, wherein the kinematic parameters include a velocity vector and a position vector of a target, and the base station includes an orthogonal dual-frequency linear antenna array;

[0048] an echo signal calculation module, configured to perform two-dimensional projection of the kinematic parameters to calculate an echo signal reflected by a target and received by the base station;

[0049] A multi-dimensional matrix modeling module is used to perform matrix modeling on the echo signal received by the base station in each coherent processing interval to obtain a multi-dimensional matrix of the echo signal;

[0050] The iterative calculation module is used to iteratively solve the multi-dimensional matrix of the echo signal of each coherent processing interval to obtain the target speed prediction value and the target position prediction value.

[0051] Beneficial effects of the present invention:

[0052] The present invention's beam tracking method based on an orthogonal dual-frequency uniform linear array uses orthogonal arrangements of horizontal x-axis and vertical z-axis uniform linear arrays to assign different carrier frequencies to the two linear subarrays, preventing co-channel interference between signals. Furthermore, a projection transformation transforms the high-dimensional parameter estimation problem into a low-dimensional subspace optimization problem, enabling joint perception and position prediction of multidimensional velocity components. This improves the accuracy of target motion perception and enhances the ability to jointly estimate the multidimensional velocity components of a moving target. This allows for more comprehensive capture of target motion information, providing richer data support for subsequent beamforming and communication optimization, and enhancing the overall system performance, particularly its ability to cope with dynamic environments.

[0053] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 This is a flow chart of a beam tracking method based on an orthogonal dual-frequency uniform linear array provided by an embodiment of the present invention;

[0055] Figure 2 1 is a schematic diagram of a model based on an orthogonal dual-frequency uniform linear array provided by an embodiment of the present invention;

[0056] Figure 3 This is a module block diagram of a beam tracking system based on an orthogonal dual-frequency uniform linear array provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0057] The present invention will be further described in detail below with reference to specific examples, but the embodiments of the present invention are not limited thereto.

[0058] Example 1

[0059] See Figure 1 , Figure 1 1 is a flow chart of a beam tracking method based on an orthogonal dual-frequency uniform linear array provided by an embodiment of the present invention, including:

[0060] S1. Initializing base station parameters and kinematic parameters, wherein the kinematic parameters include a velocity vector and a position vector of a target, and the base station includes an orthogonal dual-frequency linear antenna array;

[0061] It should be noted that the base station in this embodiment can implement full-duplex operation using a time division duplex (TDD) system, with isolation between the transmit and receive links achieved through a circulator. The orthogonal dual-frequency linear antenna array consists of two sets of M-element ULAs, arranged crosswise, with the horizontal ULA arranged along the x-axis and the vertical ULA arranged along the z-axis. The array center is located at the origin of the coordinate system, and the two sets of ULAs are configured with different carrier frequencies. The sensing target is a moving point source, which generates three directional velocity components within the three-dimensional near-field area.

[0062] In specific deployment, the base station array element spacing is, for example, half a wavelength. , the bandwidth of the system is recorded as B, corresponding to a symbol period Ts = 1 / B. In a specific CPI, let r, θ and φ represent the distance, azimuth and elevation angle of the mobile target relative to the center of the ULA respectively, and the velocity component is divided into cylindrical coordinates, v r 、v θ and v z They represent the radial velocity, azimuth velocity, and normal velocity of the target relative to the center of the ULA. The target kinematic parameters are described as follows:

[0063] Velocity vector: ,

[0064] Position vector: .

[0065] S2. Performing a two-dimensional projection on the kinematic parameters to calculate an echo signal reflected by the target and received by the base station;

[0066] To better illustrate the dimensionality reduction process of the transmitted signal and the received echo signal, please refer to Figure 2 , Figure 2 This is a schematic diagram of a model based on an orthogonal dual-frequency uniform linear array provided by an embodiment of the present invention.

[0067] S21, performing dimensionality reduction processing on the three-dimensional space to construct a two-dimensional projection plane;

[0068] First, it is divided into the following two plane dimensions: construct the xoy plane perception subsystem and project the target motion parameters onto the two-dimensional plane for analysis. Consider the velocity component on the plane, that is, v r and v θ , which is sensed by the ULA (ULA_x) placed along the x-axis; a plane sensing subsystem is constructed between the z-axis and the User, and the velocity component on the plane, i.e., v, is considered. z , sensed by the ULA (ULA_x) placed along the x-axis.

[0069] Take the xoy plane as an example for analysis, and the polar axis projected on this plane is denoted as r xy , the signal transmitted by the horizontal antenna array in the nth time slot on the plane is as follows, and satisfies the constraint , Indicates the transmit power.

[0070] (1)

[0071] S22. Based on the two-dimensional projection plane, obtain a projection signal by reflecting the baseband echo signal received at the mth antenna through the moving target;

[0072] The projection signal of the baseband echo signal received at the mth antenna after being reflected by the moving target is expressed as follows:

[0073] (2)

[0074] (3)

[0075] (4)

[0076] (5)

[0077] (6)

[0078] (7)

[0079] (8)

[0080] in, represents the channel gain, Indicates the number of antennas placed in each cross-section, n represents the time index, T s Indicates the duration of each index, represents the time-varying propagation distance from the mth antenna to the target, represents the time-varying propagation distance from the ith antenna to the target, and denote radial velocity and transverse velocity respectively, denote the projection of radial velocity and transverse velocity along the line connecting the mth antenna of ULA_x and the target, respectively. express and and speed, r, θ, and φ represent the distance, azimuth, and elevation of the moving target relative to the center of the base station, respectively. represents the distance from the mth antenna to the center antenna, represents the projection of the distance from the target user to the mth antenna on the xoy plane, z represents the height of the moving target, Represents the projection of the distance from the target user to the base station center on the xoy plane, Indicates the distance between the target user and the base station, Indicates the The signal transmitted by the antenna, λ represents the signal wavelength, represents complex Gaussian noise.

[0081] S23 , introducing Doppler frequency shift to optimize the projection signal to obtain an echo signal reflected by the target and received by the base station.

[0082] Since the frequency and wavelength of electromagnetic waves will change when the wave source and the receiver move relative to each other, this embodiment takes into account the difference in this change, namely the Doppler shift, and introduces the Doppler shift vector to more accurately perceive the speed change. , so the echo signal reflected by the target received by the base station is:

[0083] ,in represents the channel gain parameter, represents the array response matrix, represents the Doppler frequency shift matrix, Indicates that the antenna array transmits the signal, represents the noise vector.

[0084] S3, performing matrix modeling on the echo signals received by the base station in each coherent processing interval to obtain a multi-dimensional matrix of the echo signals;

[0085] The echo signal received by the base station in each coherent processing interval is modeled as a matrix form, then ,in, represents the channel gain parameter, Indicates the echo signal received by the base station at time index 1~N. is the maximum time index, represents the position vector, represents the velocity vector, , represents the Khatri-Rao product of array response and velocity Doppler compensation, represents the noise matrix.

[0086] S4. Iteratively solve the multidimensional matrix of the echo signal of each coherent processing interval to obtain the target speed prediction value and the target position prediction value.

[0087] Specifically include:

[0088] S41, converting the solution of the echo signal multidimensional matrix into the objective function of the maximization optimization problem;

[0089] Specifically, based on the maximum likelihood estimation criterion, the velocity v estimation problem is transformed into the following unconstrained optimization problem P1:

[0090] (9)

[0091] (10)

[0092] By expanding the two-norm solution problem in equation (9) into a trace form, the above minimization optimization problem can be transformed into a maximization optimization problem P2:

[0093] (11)

[0094] The objective function is (12)

[0095] S42, using the quasi-Newton method to iteratively calculate the gradient expression of the objective function with respect to the velocity vector v to obtain a target velocity prediction value;

[0096] Specifically, the quasi-Newton method (L-BFGS) is used for iterative optimization, and the direct calculation of the second-order derivatives is avoided by approximating the Hessian matrix, which significantly reduces the computational complexity while ensuring convergence accuracy.

[0097] When implementing it, the objective function needs to be calculated The gradient expression of the velocity vector v is expanded as follows:

[0098] (13)

[0099] (14)

[0100] (15)

[0101] (16)

[0102] Among them, the expression is the objective function to be maximized, given by The two-norm expansion is obtained, where express With the transmission signal The product of represents the Khatri-Rao product of the array response and velocity Doppler compensation at the nth time index, Represents the echo signal reflected by the target, the superscript H represents the conjugate transpose of the matrix, Re{} represents the real part, and tr represents the trace of the matrix. represents the Doppler shift compensation vector, express The transpose of , … Respectively represent the speed corresponding to 1-M antenna projections, … represents the Doppler frequency shift compensation vector The 1st-Mth entries of represents the velocity components in each direction, .

[0103] S43. Calculate a target position prediction value based on the target speed prediction value.

[0104] Specifically, based on the accurate estimation of the target speed, the target position prediction value of the target user at each CPI can be calculated by the following formula.

[0105] (17)

[0106] in, 、 、 Represent the predicted position parameters of the target in cylindrical coordinates, 、 、 Respectively indicate the corresponding 、 、 The superscripts t and t+1 represent the current moment and the next moment respectively.

[0107] This embodiment was simulated and tested in an actual application scenario. Specifically, it simulated a drone carrying out logistics transportation in an indoor warehouse. The flight trajectory showed a complete process of vertical takeoff and acceleration from the ground, uniform horizontal flight during the cruising phase, and deceleration and descent to the target point.

[0108] In this scenario, the base station is equipped with two linear antenna arrays with M = 256 antennas and an antenna spacing of λ / 2, which are placed crosswise. The carrier frequencies are set to 28 GHz and 30 GHz respectively. The system bandwidth B is set to 100 kHz, and the corresponding symbol duration Ts = 1×10 -6 , the number of symbols transmitted within each CPI is N=200, and the noise power N0 and the transmitted signal power Pt are set to -174dBm and 10dBm, respectively. In addition, a comparison is made with a single ULA antenna array structure. The speed perception in three-dimensional scenes using a single ULA array structure fluctuates greatly, and there will be a large deviation as the distance between the base station and the user increases. The dual-band cross antenna structure of this embodiment not only expands the near-field perception range, but also controls the error between the speed perception and the true value to within 10 -3 Within an order of magnitude, it can accurately track the real-time status of the drone, greatly improving the perception accuracy.

[0109] In summary, the present invention's beam tracking method based on an orthogonal dual-frequency uniform linear array uses orthogonal arrangements of horizontal x-axis and vertical z-axis uniform linear arrays to assign different carrier frequencies to the two linear subarrays, thus avoiding co-channel interference between signals. Furthermore, a projection transformation transforms the high-dimensional parameter estimation problem into a low-dimensional subspace optimization problem, enabling joint perception and position prediction of multidimensional velocity components. This improves the accuracy of target motion perception and enhances the ability to jointly estimate the multidimensional velocity components of a moving target. This allows for more comprehensive capture of target motion information, providing richer data support for subsequent beamforming and communication optimization, and enhancing the overall system performance, particularly its ability to cope with dynamic environments.

[0110] See Figure 3 , Figure 3 This is a module block diagram of a beam tracking system based on an orthogonal dual-frequency uniform linear array provided by an embodiment of the present invention, including:

[0111] an initialization module, configured to initialize base station parameters and kinematic parameters, wherein the kinematic parameters include a velocity vector and a position vector of a target, and the base station includes an orthogonal dual-frequency linear antenna array;

[0112] an echo signal calculation module, configured to perform two-dimensional projection of the kinematic parameters to calculate an echo signal reflected by a target and received by the base station;

[0113] A multi-dimensional matrix modeling module is used to perform matrix modeling on the echo signal received by the base station in each coherent processing interval to obtain a multi-dimensional matrix of the echo signal;

[0114] The iterative calculation module is used to iteratively solve the multi-dimensional matrix of the echo signal of each coherent processing interval to obtain the target speed prediction value and the target position prediction value.

[0115] The above is a further detailed description of the present invention in conjunction with specific preferred embodiments, and the specific implementation of the present invention should not be considered to be limited to these descriptions. For those skilled in the art of the present invention, without departing from the concept of the present invention, several simple deductions or substitutions can be made, which should be considered to fall within the scope of protection of the present invention.

Claims

1. A beam tracking method based on an orthogonal dual-frequency uniform linear array, characterized in that: include: Initializing base station parameters and kinematic parameters, wherein the kinematic parameters include a velocity vector and a position vector of the target, and the base station includes an orthogonal dual-frequency linear antenna array; Performing two-dimensional projection on the kinematic parameters to calculate an echo signal reflected by the target and received by the base station; Performing matrix modeling on the echo signals received by the base station in each coherent processing interval to obtain a multi-dimensional matrix of the echo signals; Iteratively solving the multi-dimensional matrix of the echo signal of each coherent processing interval to obtain the target speed prediction value and the target position prediction value; Performing a two-dimensional projection on the kinematic parameters to calculate an echo signal reflected by the target and received by the base station, comprising: Perform dimensionality reduction on the three-dimensional space to construct a two-dimensional projection plane; Based on the two-dimensional projection plane, the baseband echo signal received at the mth antenna is reflected by the moving target to obtain a projection signal; Introducing Doppler frequency shift to optimize the projection signal to obtain an echo signal reflected by the target received by the base station; The multi-dimensional matrix of the echo signal of each coherent processing interval is iteratively solved to obtain the target velocity prediction value and the target position prediction value, including: Convert the solution of the multi-dimensional matrix of the echo signal into the objective function of maximizing the optimization problem; The quasi-Newton method is used to iteratively calculate the gradient expression of the objective function with respect to the velocity vector v to obtain a target velocity prediction value; A target position prediction value is calculated based on the target speed prediction value.

2. The beam tracking method based on an orthogonal dual-frequency uniform linear array according to claim 1, characterized in that: The orthogonal dual-frequency linear antenna array is two groups of cross-placed antenna structures, each group of antenna structures includes at least 256 antennas, and the distance between two adjacent antennas is λ / 2.

3. The beam tracking method based on an orthogonal dual-frequency uniform linear array according to claim 1, characterized in that: The projection signal is: ， ， ， ， ， ， ， ， in, represents the channel gain, Indicates the number of antennas placed in each cross-section, n represents the time index, T s Indicates the duration of each index, represents the time-varying propagation distance from the mth antenna to the target, represents the time-varying propagation distance from the ith antenna to the target, and denote radial velocity and lateral velocity respectively, and denote the projection of radial velocity and transverse velocity along the line connecting the mth antenna of ULA_x and the target, respectively. express and and speed, r, θ, and φ represent the distance, azimuth, and elevation of the moving target relative to the center of the base station, respectively. represents the distance from the mth antenna to the center antenna, represents the projection of the distance from the target user to the mth antenna on the xoy plane, z represents the height of the moving target, Represents the projection of the distance from the target user to the base station center on the xoy plane, Indicates the distance between the target user and the base station, Indicates the The signal transmitted by the antenna, λ represents the signal wavelength, represents complex Gaussian noise.

4. The beam tracking method based on an orthogonal dual-frequency uniform linear array according to claim 3, characterized in that: The echo signal reflected by the target is: ,in represents the channel gain parameter, represents the array response matrix, represents the Doppler frequency shift matrix, Indicates that the antenna array transmits the signal, represents the noise vector.

5. The beam tracking method based on an orthogonal dual-frequency uniform linear array according to claim 1, characterized in that: The multidimensional matrix of the echo signal is: ， in, represents the channel gain parameter, Indicates the echo signal received by the base station at time index 1~N. is the maximum time index, represents the position vector, represents the velocity vector, , represents the Khatri-Rao product of array response and velocity Doppler compensation, represents the noise matrix.

6. The beam tracking method based on an orthogonal dual-frequency uniform linear array according to claim 1, characterized in that: The objective function is: ， ， ， Among them, the expression is the objective function to be maximized, given by The two-norm expansion is obtained, where express With the transmission signal The product of represents the Khatri-Rao product of the array response and velocity Doppler compensation at the nth time index, Represents the echo signal reflected by the target, the superscript H represents the conjugate transpose of the matrix, Re{} represents the real part, and tr represents the trace of the matrix. represents the Doppler shift compensation vector, express The transpose of The gradient expression is: ， in, , … Respectively represent the speed corresponding to 1-M antenna projections, … represents the Doppler frequency shift compensation vector The 1st-Mth entries of represents the velocity components in each direction, .

7. The beam tracking method based on an orthogonal dual-frequency uniform linear array according to claim 6, characterized in that: The formula for calculating the target position prediction value based on the target speed prediction value is: ， in, 、 、 Represent the predicted position parameters of the target in cylindrical coordinates, 、 、 Respectively indicate the corresponding 、 、 The superscripts t and t+1 represent the current moment and the next moment respectively.

8. A beam tracking system based on an orthogonal dual-frequency uniform linear array, characterized in that: include: an initialization module, configured to initialize base station parameters and kinematic parameters, wherein the kinematic parameters include a velocity vector and a position vector of a target, and the base station includes an orthogonal dual-frequency linear antenna array; an echo signal calculation module, configured to perform two-dimensional projection of the kinematic parameters to calculate an echo signal reflected by a target and received by the base station; A multi-dimensional matrix modeling module is used to perform matrix modeling on the echo signal received by the base station in each coherent processing interval to obtain a multi-dimensional matrix of the echo signal; An iterative calculation module, used for iteratively solving the multi-dimensional matrix of the echo signal of each coherent processing interval to obtain a target speed prediction value and a target position prediction value; The echo signal calculation module is specifically configured to: perform dimensionality reduction processing on the three-dimensional space to construct a two-dimensional projection plane; based on the two-dimensional projection plane, obtain a projection signal by reflecting the baseband echo signal received at the mth antenna through the moving target; introduce Doppler frequency shift to optimize the projection signal to obtain an echo signal reflected by the target received by the base station; The iterative calculation module is specifically used to: convert the solution of the multidimensional matrix of the echo signal into the objective function of the maximization optimization problem; use the quasi-Newton method to iteratively calculate the gradient expression of the objective function for the velocity vector v to obtain the target velocity prediction value; calculate the target position prediction value based on the target velocity prediction value.

Images